Implementation of Analytic Iterative Redundancy resolution technique on KNTU cable robot

Abstract

Analytic Iterative Redundancy Resolution (AIRR) is a semi-analytic method for redundancy resolution in cable-driven manipulators. As all previous redundancy resolution methods were based on numerical algorithms, they impose an uncertainty to execution time which is barely acceptable in realtime implementation. In this paper, AIRR is implemented as a fast solution to redundancy resolution problem by checking a set of analytic solutions instead of using numerical algorithms. Furthermore, the performance of this method is compared to previous numerical method implemented on KNTU robot with respect to execution time and accuracy. It is shown that the realtime performance of this implementation in closed-loop control structure is at least fifteen times faster than that of previously implemented methods. Such decrease in execution time in realtime implementation is very promising for future applications.